CN212700391U - Automatic ball robot is picked up to response intelligence - Google Patents
Automatic ball robot is picked up to response intelligence Download PDFInfo
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- CN212700391U CN212700391U CN202020325480.XU CN202020325480U CN212700391U CN 212700391 U CN212700391 U CN 212700391U CN 202020325480 U CN202020325480 U CN 202020325480U CN 212700391 U CN212700391 U CN 212700391U
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Abstract
The utility model relates to a robot for picking up thing specifically is an auto-induction intelligence ball picking up robot, can walk discernment and stable ball recovery of picking up based on image recognition algorithm and laser radar, including uncovered ball mouth, shell, laser radar, chassis, universal wheel moving mechanism and camera of inhaling, laser radar is installed at the top of shell, the front end of shell is equipped with the camera, the shell bottom is equipped with the chassis, the chassis bottom be equipped with the universal wheel moving mechanism be equipped with vacuum pump installation storehouse in the shell, be equipped with the vacuum pump in the vacuum pump installation storehouse, vacuum pump installation storehouse and shell intercommunication, still be equipped with the air exit on the vacuum pump installation storehouse, still include the battery, the battery is installed in the bottom on chassis, control module installs in the shell, control module respectively with battery, vacuum pump, The laser radar is electrically connected with the camera.
Description
Technical Field
The utility model relates to a robot for picking up objects specifically is an auto-induction intelligence ball picking up robot.
Background
The table tennis is a sport suitable for all ages, has the characteristics of small restriction by age and physical conditions, low requirements on fields and instruments and the like, and is easy to popularize and operate specifically due to small balls, high speed, multiple changes and strong interestingness, so that the table tennis is one of the first-choice activities of daily leisure and entertainment.
As people's understanding of the intelligent nature of robotics has deepened, robotics has begun to continually infiltrate into various areas of human activity. The table tennis ball picking robot is an autonomous mobile service robot applied to picking table tennis balls.
The existing table tennis ball picking robot has few types and many defects, only stays at a theoretical stage, and has no real finished product. For example, in the patent number 201710425755.X, the control logic is not good enough, and the motion route of the actual ball picking is not considered; the ball picking action is realized by mechanical devices such as a mechanical arm, for example, a mechanism in patent No. 201920372666.8, the robot has overlarge volume and high cost; for example, in 201710015741.0, the obstacle is avoided by using ultrasonic waves, but if the obstacle is small, the ultrasonic module may fail, and the obstacle is scanned by 360 ° by using the lidar obstacle avoiding module, so it can be seen that the ball picking operation by using the robot in the prior art needs to be further improved.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model overcomes current defect, provides an auto-induction intelligence ball picking robot, can carry out walking discernment and stable ball picking recovery based on image recognition algorithm and laser radar.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides an auto-induction intelligence ball robot that picks up, includes uncovered ball mouth, shell, laser radar, chassis, universal wheel moving mechanism and camera of inhaling, laser radar is installed at the top of shell, the front end of shell is equipped with the camera, the shell bottom is equipped with the chassis, the chassis bottom be equipped with universal wheel moving mechanism be equipped with vacuum pump installation storehouse in the shell, be equipped with the vacuum pump in the vacuum pump installation storehouse, vacuum pump installation storehouse and shell intercommunication, still be equipped with the air exit on the vacuum pump installation storehouse, still include the battery, the bottom on the chassis is installed to the battery, control module installs in the shell, control module is connected with battery, vacuum pump, laser radar and camera electricity respectively.
Preferably, a ball falling baffle is arranged at the communication position of the vacuum pump installation bin and the shell.
Preferably, the robot further comprises a ball receiving bin, a ball receiving bin lifting long arm, a ball receiving bin lifting short arm and a lifting steering engine, wherein one end of the ball receiving bin is provided with a first opening, the ball receiving bin is respectively in running fit with the ball receiving bin lifting long arm and the ball receiving bin lifting short arm, the ball receiving bin lifting long arm is in running fit with the chassis, and the ball receiving bin lifting short arm is in running fit with the chassis through the lifting steering engine.
Preferably, the ball receiving bin further comprises a bin door, the other end of the ball receiving bin is provided with a second opening, the bin door is in running fit with the second opening, a sliding block is arranged on the bin door, the ball receiving bin further comprises a lifting steering engine and a connecting rod, the lifting steering engine is installed on the chassis, and the lifting steering engine is in sliding fit with the sliding block through the connecting rod.
Preferably, the universal wheel moving mechanism is a four-wheel drive Mecanum universal wheel and is driven by a TBB motor driving chip.
Preferably, the control module comprises a raspberry sending upper computer and an MCU lower computer of the STM, and the raspberry sending upper computer is in communication connection with the MCU lower computer of the STM.
Preferably, the ball storage box is further included and is installed on the chassis.
Preferably, the ball storage box is also internally provided with a ball receiving groove for accommodating the ball receiving bin.
Preferably, the device further comprises a ball suction pipeline, one end of the ball suction pipeline is communicated with the open ball suction port, the other end of the ball suction pipeline is close to the vacuum pump installation bin, and the other end of the ball suction pipeline can be communicated with the first opening.
The utility model discloses beneficial effect: the utility model discloses an auto-induction intelligence ball picking up robot can effectively solve the ball picking up inefficiency on the table tennis court, consumes time more problem of energy, with raspberry group as the host computer, based on ROS platform, accomplish the operation of the information that laser radar gathered, the image information that the discernment camera was collected; controlling the robot to move by taking the STM32 as a lower computer; when no ball exists in the visual field, searching the ball in a progressive and straight mode; establishing a robot motion mathematical model to calculate the target rotating speed of the motor, and realizing closed-loop control of the speed by using an encoder; the ball is picked up through wind negative pressure; the system has an automatic picking mode and a manual remote control mode, and can be remotely switched through a mobile phone; a totally enclosed ball bin is adopted to ensure the suction force of the fan; the ball receiving bin can be lifted up through the double-rocker mechanism, and the bin door can be opened and closed; when the ball is fully collected or the robot is not powered, the laser radar module guides the robot to the ball storage box automatically to finish the functions of dumping the table tennis balls and charging. The robot has the advantages of flexible movement, high ball picking efficiency, quick ball retrieving mode, convenient and intelligent operation mode and strong obstacle avoidance function; the ball picking robot replaces manual automatic ball picking, avoids a large amount of repeated and meaningless labor in various occasions such as table tennis training, public table tennis halls and the like, improves training efficiency, improves time utilization rate and reduces labor cost. Compare other patents, have the robot motion nimble, pick up the ball efficient, the cable ball mode is fast, the convenient intelligence of operation mode, keep away the powerful advantage of barrier function.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural view of the automatic induction intelligent ball picking robot of the present invention;
fig. 2 is a schematic view of a part of the structure of the automatic induction intelligent ball picking robot of the present invention;
fig. 3 is a schematic structural view of the automatic sensing intelligent ball picking robot of the present invention in the toppling state;
FIG. 4 is a schematic view of the table tennis ball vision recognition process of the auto-induction intelligent ball picking robot of the present invention;
fig. 5 is a mobile phone APP interface of the auto-induction intelligent ball picking robot of the present invention;
FIG. 6 is a schematic diagram of the overall software system framework of the auto-induction intelligent ball picking robot of the present invention;
fig. 7 is a schematic diagram of the robot cable ball of the auto-induction intelligent ball picking robot of the present invention moving in a ball state.
Reference numbers in the figures: 1. a laser radar; 2. a housing; 3. a vacuum pump; 4. opening a ball suction port; 5. a universal wheel moving mechanism; 6. a chassis; 7. the ball receiving bin lifts the long arm; 8. lifting a short arm of the ball receiving bin; 9. a battery; 10. lifting the steering engine; 11. an opening and closing steering engine; 12. a bin gate; 13. a slider; 14. a connecting rod; 15. a ball receiving bin; 151. a first opening; 152. a second opening; 16. a camera; 17. a ball falling baffle plate; 18. a vacuum pump installation bin; 19. an air outlet; 20. a control module; 21. a ball storage box; 22. a ball suction pipeline.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
In specific implementation, the universal wheel moving mechanism 5 is a mecanum universal wheel moving mechanism, and consists of four direct current motors, four reduction boxes and four mecanum universal wheels, and is used for walking of the robot; the motor is provided with an encoder for measuring the speed of the motor and feeding the speed back to the MCU for carrying out speed PI closed-loop control; the ball suction action consists of a ball suction port of the open ball suction port 4, a ball suction pipeline 22, a falling ball baffle 17 and a vacuum pump 3; the vacuum pump 3 can be a micro vacuum pump, the ball receiving mechanism is composed of a ball receiving bin 15, a bin door 12, a ball receiving bin lifting long arm 7, a ball receiving bin lifting short arm 8, a lifting steering engine 10, an opening and closing steering engine 11, a sliding block 13 and a connecting rod 14, the visual identification module is combined and identified by a laser radar 1 and a camera 16 and used for collecting image information, identifying a table tennis on the ground and transmitting the table tennis position information to the MCU for processing; a remote control module can be also configured, and the Bluetooth module is communicated with the MCU through a serial port and is used for starting or closing the robot, controlling the robot to move and switching modes; the laser radar 1 is used for scanning surrounding environment information, avoiding obstacles and automatically guiding the robot to a workstation; the ball receiving mechanism is used for lifting the ball receiving bin to a certain height and a pouring angle, so that the bin door is opened, and table tennis balls are poured into the ball receiving groove.
When the vacuum pump 3 adopts negative pressure ball suction, in order to avoid the ball from being always adsorbed at the pump port of the vacuum pump 3, the ball falling baffle plate 17 with small holes is arranged at the fan port, when the ball is sucked, downward component force is generated from pure inward force, so that the ball falls into the ball receiving bin 15 from the ball suction pipeline 22 through the opening I151, and the vector magnitude and the direction of the suction force are not influenced or changed. The falling ball retainer 17 is angled approximately 80 deg. from the horizontal. The ball receiving bin 15 is lifted through a double-rocker mechanism formed by the ball receiving bin lifting long arm 7 and the ball receiving bin lifting short arm 8, and the ball receiving bin 15 can be lifted to a certain height and a certain dumping angle.
The opening and closing steering engine 11 drives the connecting rod 14 to control the sliding block 13 to move, so that the effect of opening and closing the bin door 12 is achieved; when no ball exists in the visual field, the robot moves straight for a certain distance, turns left for 90 degrees, if no ball still exists in the visual field, the robot moves straight for a more distance, turns left for 90 degrees after the straight movement is finished, and outward diffusion search is carried out according to the rule of increasing the left for the straight movement until the ball is searched.
This robot adopts and stores up ball case 21 complex working method, collects full back when the ball, does not need the people to take out the ball manually, can transport ball case 21 with the ball automatically, and ball case 21 possesses the function of charging for the robot, and the robot can return to ball case 21 and charge by automatic wireless tracking.
The fan mouth is provided with a ball falling baffle 17 with small holes, when the ball is sucked, a downward component force is generated from a pure inward force, so that the ball falls into the ball receiving bin, and the vector magnitude and the direction of the suction force are not influenced or changed. The angle of the baffle plate to the horizontal is about 80 deg.. A grey scale sensor may be mounted in front of the ball drop baffle 17 for counting the number of balls that have been picked up.
The bin gate is provided with a T-shaped guide rail, the sliding block 13 can linearly move in the guide rail, the connecting rod 14 is connected with the sliding block 13 through a revolute pair, and the opening and closing steering engine 11 serves as motive power to drive the guide rail to control the sliding block 13 to move so as to achieve the function of controlling the opening and closing of the bin gate.
The ball receiving bin lifting mechanism is two groups of double-rocker mechanisms, wherein one group of double-rocker mechanisms are virtual constraints and are used for keeping the motion stability and balance, the shortest rod of the mechanism is a rack, the ball receiving bin is a connecting rod, and the lifting steering engine 10 is controlled to drive the shorter connecting rod to rotate, so that the ball receiving bin can be lifted to a certain height and a certain dumping angle.
The camera 16 for collecting image information is mounted on a camera head seat on the housing 2, and the camera head seat is 75 degrees with the ground, so that the camera 16 can shoot the ground right in front.
Adopt laser radar 1 to keep away the barrier, laser radar 1 horizontal installation is on 2 top planes of robot housing, and the top does not have other shelters from the thing and shelters from, adopts the raspberry group to carry out data processing. The visual recognition unit comprises a visual unit and an image processing unit, after the visual unit detects a dropped ball, the visual unit collects an image of the position of the ball and transmits the image to the image processing unit for processing, and the image processing unit recognizes the characteristics of the ball, calculates the coordinate of the ball and feeds the coordinate back to the MCU for processing; when no ball exists in the visual field, the robot moves straight for a certain distance, turns left for 90 degrees, if no ball still exists in the visual field, the robot moves straight for a more distance, turns left for 90 degrees after the straight movement is finished, and outward diffusion search is carried out according to the rule of increasing the left for the straight movement until the ball is searched. The user mobile phone is used as an upper computer to send instructions, only a special app is needed to be installed, and no additional remote controller is needed; the user can select an automatic mode or a manual mode according to needs, the ball is automatically searched and picked up in the automatic mode, and the user can directly control the manual mode. The robot adopts a working mode matched with the ball storage box 21, when the balls are fully collected, the balls are not required to be taken out manually by people, the balls can be automatically conveyed to the ball storage box 21, the workstation has the function of charging the robot, 5V safe voltage is output through two protruding electrodes, protruding electrode plates are also arranged at corresponding positions of the rear part of the robot, and the robot can guide automatic wireless tracking to return to the ball storage box 21 for charging through the laser radar 1.
The robot adopts the camera 16 to collect image information and identify the position of the ping-pong ball, after the camera 16 collects a frame of image data, firstly carries out image preprocessing, including graying, binarization and smooth filtering processing in an RGB model, to obtain binary image data containing the ping-pong ball shape, then carries out Hough detection operation on the binary image to detect the ball, and returns the coordinate position of a pixel point on the screen at the center of a sphere closest to the robot through a corresponding function.
In order to reduce the resistance of table tennis to be sucked into the ball suction pipe and improve the ball picking efficiency, an open ball suction port is designed at the front end of the ball suction pipe. The air inlet of the vacuum pump is connected and sealed with the open ball suction port. The ball picking robot adopts air suction to generate negative pressure, and air is pressed into the pump cavity and then discharged from the air outlet under the action of pressure difference through the pressure difference ball picking principle to complete an air suction process. The micro vacuum pump is arranged in a compartment consisting of a front perforated plate and a rear perforated plate, and the perforated plates at two ends are respectively provided with a suction hole and an exhaust hole. When the micro vacuum pump works, table tennis balls are sucked to the ball falling baffle plate with the front end inclined by 80 degrees through the ball sucking port and the duct at the front end, and then the table tennis balls automatically fall into the ball receiving bin 15 below under the action of air sucking component force.
Adopt bluetooth module remote communication, bluetooth module passes through serial ports and MCU communication, can use cell-phone app to link with the robot and accomplish remote control, and the cell-phone app schematic diagram is shown in fig. 5.
Robot control flow chart is as shown in fig. 6, and after the robot power is turned on, the MCU and each module automatically complete initialization, the user mobile phone is linked with the Bluetooth module, and the robot operation mode can be selected through the mobile phone APP. In the manual mode, the robot can complete corresponding actions according to the control of a user; under the automatic mode, if a table tennis ball is detected in the visual field, firstly, the projection area of the table tennis ball on the screen is judged, the distance is calculated to be the nearest, then the table tennis ball is transversely moved, the center projection coordinate of the table tennis ball is located at the center of the screen, the robot moves forwards, the micro vacuum pump is started through the relay, the table tennis ball is sucked into the table tennis ball containing bin, and when the table tennis ball disappears in the visual field, the fan is turned off, so that the electric quantity is saved. When the laser radar detects that obstacles exist around, the robot turns left until no obstacles exist on the advancing route, and then ball searching is started again, when no ball exists in the visual field, the movement track is as shown in figure 7, the triangle is the position and the orientation of the robot, the shadow is the visual field of the robot, the dotted line is the movement route of the robot, the robot moves for a certain distance straight and then turns left for 90 degrees, if no ball still exists in the visual field, the robot moves for a more distance straight and turns left for 90 degrees after the straight movement is finished, and the robot further moves left and turns left to search in an outward diffusion mode until the ball is searched.
Install infrared grayscale sensor before the ball baffle that falls for count the bobble, when the robot picks up the bobble of certain quantity after, laser radar guides the robot to workstation department, and two rockers are received the work of ball storehouse lift mechanism and are begun, will receive the ball storehouse and lift certain height and angle, and automatic door mechanism work of opening and shutting at last opens the door, and the bobble in the storehouse falls into and stores in the ball case in unison. The ball storage box 21 can output 5V safe voltage through the two protruded electrodes, the protruded electrode plates are also arranged at corresponding positions of the rear part of the robot, and when the robot is not powered or does not work, the robot can be guided to automatically and wirelessly trace back to a workstation for charging through a laser radar.
The above is the preferred embodiment of the present invention, and the technical personnel in the field of the present invention can also change and modify the above embodiment, therefore, the present invention is not limited to the above specific embodiment, and any obvious improvement, replacement or modification made by the technical personnel in the field on the basis of the present invention all belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides an auto-induction intelligence ball robot that picks up which characterized in that: including uncovered ball mouth (4), shell (2), laser radar (1), chassis (6), universal wheel moving mechanism (5) and camera (16), laser radar (1) are installed to the top of shell (2), the front end of shell (2) is equipped with camera (16), shell (2) bottom is equipped with chassis (6), chassis (6) bottom is equipped with universal wheel moving mechanism (5) be equipped with vacuum pump installation storehouse (18) in shell (2), be equipped with vacuum pump (3) in vacuum pump installation storehouse (18), vacuum pump installation storehouse (18) and shell (2) intercommunication, still be equipped with exhaust outlet (19) on vacuum pump installation storehouse (18), still include battery (9), install in the bottom of chassis (6) battery (9), control module (20) are installed in shell (2), control module (20) respectively with battery (9), The vacuum pump (3), the laser radar (1) and the camera (16) are electrically connected.
2. The auto-induction intelligent ball picking robot of claim 1, wherein: and a ball falling baffle (17) is arranged at the communication position of the vacuum pump installation bin (18) and the shell (2).
3. The auto-induction intelligent ball picking robot of claim 1, wherein: still including receiving ball storehouse (15), receiving the ball storehouse and lifting long arm (7), receiving the ball storehouse and lifting short arm (8) and lift steering wheel (10), receive ball storehouse (15) one end and be equipped with opening one (151), receive ball storehouse (15) respectively with receive the ball storehouse and lift long arm (7) and receive the ball storehouse and lift short arm (8) normal running fit, receive the ball storehouse and lift long arm (7) and chassis (6) normal running fit, receive the ball storehouse and lift short arm (8) through lifting steering wheel (10) and chassis (6) normal running fit.
4. The auto-induction intelligent ball picking robot of claim 3, wherein: still include door (12), receive ball storehouse (15) other end and be equipped with opening two (152), door (12) and opening two (152) department normal running fit, be equipped with slider (13) on door (12), still including lifting steering wheel (10) and connecting rod (14), lift steering wheel (10) and install on chassis (6), it still passes through connecting rod (14) and slider (13) sliding fit to lift steering wheel (10).
5. The auto-induction intelligent ball picking robot of claim 1, wherein: the universal wheel moving mechanism (5) is a four-wheel Mecanum universal wheel and is driven by a TB6612B motor driving chip.
6. The auto-induction intelligent ball picking robot of claim 1, wherein: control module (20) include raspberry group host computer and STM 32's MCU lower computer, raspberry group host computer and STM 32's MCU lower computer communication connection.
7. The auto-induction intelligent ball picking robot of claim 3, wherein: the vacuum ball sucking device is characterized by further comprising a ball sucking pipeline (22), one end of the ball sucking pipeline (22) is communicated with the open ball sucking port (4), the other end of the ball sucking pipeline is close to the vacuum pump installation bin (18), and the other end of the ball sucking pipeline (22) can be communicated with the first opening (151).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020325480.XU CN212700391U (en) | 2020-03-16 | 2020-03-16 | Automatic ball robot is picked up to response intelligence |
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| CN202020325480.XU CN212700391U (en) | 2020-03-16 | 2020-03-16 | Automatic ball robot is picked up to response intelligence |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967912A (en) * | 2021-10-21 | 2022-01-25 | 深圳市亚博智能科技有限公司 | Robot control system and control method thereof |
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2020
- 2020-03-16 CN CN202020325480.XU patent/CN212700391U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967912A (en) * | 2021-10-21 | 2022-01-25 | 深圳市亚博智能科技有限公司 | Robot control system and control method thereof |
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Granted publication date: 20210316 |